JPH11148822A - Camera for photogrammetry - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a camera equipped with a relative position detection system capable of detecting a three-dimensional relative position at each photography position. SOLUTION: This camera is equipped with a relative position detection system (64, 66, 68, 70, 72, 74) which detects relative position relation among photography positions in three dimensions. The relative position detection system is related to a χ-ψ-ωthree-dimensional orthogonal coordinate system, whose coordinate origin is set to a proper position for this camera, so that the relative position relation among the different photography positions is detected on the χ-ψ-ω three-dimensional orthogonal coordinate system.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a camera for photogrammetry used for photogrammetry in which a survey map is created based on images obtained at two different shooting positions.

[0002]

2. Description of the Related Art Conventionally, a photogrammetric camera as described above is used, for example, to create a survey map at a traffic accident site, where the traffic accident site is photographed at at least two different photographing positions. A two-dimensional rectangular coordinate system is set for the captured image obtained at each capturing position, and a predetermined object point of the imaging target recorded in the captured image is specified by the two-dimensional rectangular coordinate system. Next, a three-dimensional rectangular coordinate system is set based on the two sets of two-dimensional rectangular coordinate systems, and three-dimensional coordinates of the imaging target are specified by the three-dimensional rectangular coordinate system. Thus, by projecting the object to be photographed on any of the three planes determined by the three-dimensional coordinate system, a survey map at the traffic dimension site is obtained.

[0003] In order to accurately obtain the dimensions of the object to be photographed by such photogrammetry, a standard scale is required, and this standard scale must be recorded in each photographed image together with the object to be photographed. In addition, a reference plane on which the object to be photographed is to be projected must be defined in each photographed image. Usually, in order to obtain such a reference scale and a reference plane, three cone-shaped markers are installed at three places on the imaging site, and the distance between two tips of the three cone-shaped markers is, for example, a tape measure. It is measured and the distance is used as a reference scale. A plane determined by the tips of the three conical markers is set as a reference plane. In short, the three cone-shaped markers are photographed together with the photographing target, thereby making it possible to create a survey map.

[0004]

By the way, in order to specify the three-dimensional coordinates of the object to be photographed in the three-dimensional orthogonal coordinate system as described above, the relative positional relationship between the two photographing positions must be three-dimensional. It must be accounted for by a Cartesian coordinate system, but it is very cumbersome and impractical to actually obtain such relative positional relationships on the scene. Therefore, conventionally, a method of obtaining a relative positional relationship between two photographing positions by repeating an approximate calculation using a computer has been adopted, but it takes time to repeat such an approximate calculation. Is a problem.

Accordingly, an object of the present invention is to provide a camera for photogrammetry equipped with a relative position detecting system capable of detecting a three-dimensional relative position at each photographing position.

[0006]

SUMMARY OF THE INVENTION A photogrammetric camera according to the present invention includes a relative position detecting system for three-dimensionally detecting a relative positional relationship between different photographing positions. Preferably, the relative position detection system is associated with a three-dimensional rectangular coordinate system, and the coordinate origin of the three-dimensional rectangular coordinate system is set at an appropriate position with respect to the photogrammetric camera, and the relative origin is determined between different photographing positions. A relative positional relationship is detected with respect to a three-dimensional rectangular coordinate system. Preferably, the coordinate origin of the three-dimensional orthogonal coordinate system is set to the rear principal point position of the photogrammetry camera.

For the three-dimensional rectangular coordinate system, a first axis extending vertically to the earth, and second and third axes extending horizontally from the coordinate origin of the three-dimensional rectangular coordinate system and mutually extend from each other. It preferably comprises The relative position detection system includes a rotational displacement detection sensor that detects rotational displacement data of the photogrammetric camera around first, second, and third axes of the three-dimensional rectangular coordinate system, and a three-dimensional rectangular coordinate system. And an acceleration detection sensor for detecting acceleration data of the photogrammetry camera along the first, second and third axes. In this case, preferably, the rotational movement detection sensor that detects the rotational movement of the photogrammetry camera around the first axis of the three-dimensional orthogonal coordinate system is configured as a magnetic direction sensor.

The relative position detecting system calculates relative three-dimensional angle data of the photogrammetric camera for the different photographing positions based on the rotational movement data detected by the rotational movement detecting sensor at the different photographing positions. A first calculating means for calculating, and a second calculating means for calculating a translational movement amount data of the photogrammetry camera for the different photographing position based on the acceleration data detected by the acceleration detection sensor at the different photographing position. Means. Further, the relative position detection system may include a third calculating means for calculating relative three-dimensional position data for different photographing positions based on the translation amount data calculated by the second calculating means. The camera for photogrammetry according to the present invention may further include a removable storage medium for storing image data obtained at each of different photographing positions together with relative three-dimensional angle data and relative three-dimensional position data. .

[0009] In the case where images are continuously taken at different photographing positions, the relative position detection system may further perform a process based on two consecutive relative three-dimensional angle data obtained at the different photographing positions. Fourth to calculate the angle difference data
And fifth calculating means for calculating position difference data from two consecutive relative three-dimensional position data obtained at different photographing positions. In this case, the removable storage medium stores the image data obtained at each of the different photographing positions together with the angle difference data and the position difference data.

According to another aspect of the present invention, there is provided a storage medium for storing image data captured by a photogrammetric camera, the relative three-dimensional angle data and the relative three-dimensional angle data for specifying a photographing position of the photogrammetric camera. A storage medium is provided that stores target three-dimensional position data together with image data. Preferably, the relative three-dimensional angle data and the relative three-dimensional position data are specified in relation to a three-dimensional rectangular coordinate system defined for the photogrammetric camera.

Although the coordinate origin of the three-dimensional rectangular coordinate system can be set at an appropriate position with respect to the photogrammetric camera, preferably, the position is the rear principal point position of the photogrammetric camera. More preferably, the three-dimensional Cartesian coordinate system has a first axis extending perpendicular to the earth, and second and third axes extending horizontally from each other from the coordinate origin of the three-dimensional Cartesian coordinate system. Consists of

The storage medium further includes angle difference data based on two consecutive relative three-dimensional angle data obtained at different photographing positions by the photogrammetric camera, and the two consecutive relative three-dimensional positions. Position difference data based on the data may be stored.

According to yet another aspect of the present invention, there is provided a storage medium for storing image data captured by a photogrammetric camera, wherein two consecutive image data obtained at different photographing positions by the photogrammetric camera are stored. Angular difference data based on the relative three-dimensional angle data of the photogrammetric camera and position difference data based on the relative three-dimensional position data of the two consecutive photogrammetric cameras are stored together with the image data. Is provided. Preferably, the angle difference data and the position difference data are specified in relation to a three-dimensional orthogonal coordinate system defined for the photogrammetric camera.

As in the above case, the coordinate origin of the three-dimensional rectangular coordinate system can be set at an appropriate position with respect to the photogrammetric camera, but preferably, the position is the rear principal point position of the photogrammetric camera. More preferably, the three-dimensional rectangular coordinate system has a first axis extending vertically to the earth, and second and third axes extending horizontally and mutually from the coordinate origin of the three-dimensional rectangular coordinate system. Axis.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment of a camera for photogrammetry according to the present invention will be described below with reference to the accompanying drawings.

Referring to FIG. 1, there is shown an external view of a photogrammetric camera according to the present invention. As is apparent from the figure, the photogrammetric camera comprises a camera body 10. An imaging optical system 12 is provided substantially at the center of the front surface of the camera body 10,
A flash 14 is arranged on the right side of the imaging optical system 12 toward the front of the camera body 10. Further, a release operation button 16 is provided on the front side of the camera body 10 on the opposite side of the flash 14. A viewfinder 18 is mounted substantially at the center of the top of the camera body 10, a liquid crystal display panel 20 is provided on one side thereof, and a power switch operation button 24 is provided on the other side thereof.

A slot 26 is formed on one side of the camera body 10, that is, on the right side as viewed from the front of the camera. Through this slot 26, an appropriate memory card, for example, an IC memory card 28 is removably mounted. ing. A push button 30 is provided near the slot 26, and the push button 30 functions as an ejector for ejecting the IC memory card 28 from the camera body 10. Although not visible in FIG. 1, a liquid crystal TV monitor is built in the back of the camera body 10,
An image to be photographed can be observed on the TV monitor.

Referring to FIG. 2, there is shown a block diagram of the camera of FIG. 1, wherein reference numeral 32 indicates a system controller for controlling the overall operation of the camera. The system controller 32 is composed of a microcomputer, in which a central processing unit (CPU), a program for executing various routines, a read-only memory (ROM) for storing constants and the like,
A writable / readable memory (RAM) for temporarily storing data and the like is provided.

The imaging optical system 12 is composed of a plurality of lens groups, and a stop 34 is incorporated therein. Camera body 1
0, a suitable solid-state imaging device functioning as a photoelectric conversion device, for example, a CCD area image sensor 36 composed of a CCD (Charge-coupled device) is provided. The CCD area image sensor 36 is located behind the imaging optical system 12. Placed on the side. A quick return mirror 38 is disposed between the imaging optical system 12 and the CCD area image sensor 36. The quick return mirror 38 is moved down (inclination position shown by a solid line in FIG. 2) and up position (in FIG. 2). (Horizontal position indicated by a solid line). A focusing plate 40 is disposed above the quick return mirror 38, and the focusing plate 40 forms a part of a finder optical system of the finder 18.

The rotation of the quick return mirror 38 between the down position and the up position is performed by a mirror driving circuit 42, and the operation of the mirror driving circuit 42 is controlled by an exposure control circuit 44. The exposure control circuit 44 includes a photometric sensor 46, and the operation of the exposure control circuit 44
This is performed under control of the system controller 32 based on the photometric signal of No. 6. Although not shown in FIG. 2, the iris 34 included in the imaging optical system 12 is driven by an iris drive circuit, and the operation of the iris drive circuit is also controlled by the exposure control circuit 44.

The quick return mirror 38 is normally located at a down position, that is, an inclined position, and at this time, the imaging optical system 12
Is reflected by the quick return mirror 38 toward the focusing plate 40 and is imaged there. That is, the photographer can observe the subject image through the viewfinder 18. When shooting, quick return mirror 38
Is rotated from the down position to the up position by the mirror driving circuit 42. At this time, the light passing through the imaging optical system 12 is guided to the light receiving surface of the CCD area image sensor 36 and is imaged there.

The CCD area image sensor 36 has an electronic shutter function, and the exposure time, that is, the charge accumulation time, is adjusted by the electronic shutter function based on the photometric signal from the photometric sensor 46, and after a predetermined exposure time, The quick return mirror 38 is returned from the up position to the down position. During the exposure time, the CCD area image sensor 36 converts the optical object into an electric pixel signal.
Are sequentially read from the CCD image sensor 36. The operation of the CCD drive circuit 48 is performed under the control of the system controller 32.

The pixel signal read from the CCD area image sensor 36 is amplified by an amplifier 50,
The signal is converted into a digital pixel signal by an analog / digital (A / D) converter 52. The digital pixel signal output from the A / D converter 52 is
Under the control of 2, the image processing circuit 54 receives appropriate image processing such as shading correction and gamma correction, and then temporarily stores it in the memory 56. The memory 56
Has a capacity capable of storing digital pixel signals for one frame obtained from the CCD area image sensor 36.

The digital pixel signal is sent from the memory 56 to the memory card drive circuit 58, which controls data write / read of the IC memory card 28 under the control of the system controller 32. . That is, when a digital pixel signal for one frame is sent from the memory 56 to the memory card drive circuit 58, the digital pixel signal for one frame is written and stored in the IC memory card 28. Further, the digital pixel signal for one frame may be output from the memory 56 to the color encoder 60 as necessary. At this time, the digital image signal for one frame is output to the color encoder 6.
The signal is converted into a series of video color signals by 0, and then transmitted to a liquid crystal type TV monitor 62, where the subject image is reproduced. As described above, the liquid crystal type TV monitor 62 is incorporated in the back of the camera body 10.

According to the present invention, the camera is provided with a relative position detecting system for detecting its relative movement amount under the operating condition. In the present embodiment, the relative position detecting system includes the magnetic direction sensor 64 and the magnetic direction sensor 64. , First rotation angle sensor 66
, A second rotation angle sensor 68, a first acceleration sensor 70, a second acceleration sensor 72, and a third acceleration sensor 74. These sensors 64, 66, 6
8, 70, 72 and 74 are operated through the sensor control circuit 76 under the control of the system controller 32.
The sensor control circuit 76 is constituted by a microcomputer similarly to the system controller 32, and includes a central processing unit (CPU), a program for executing various routines, a read-only memory (ROM) for storing constants and the like, Writing / temporarily storing data /
A readable memory (RAM) or the like is provided.

The relative position detection system (64, 66, 6)
8, 70, 72, 74) are χ-ψ-ω as shown in FIG.
Associated with a three-dimensional Cartesian coordinate system. For convenience of illustration,
Although the -ψ-ω three-dimensional rectangular coordinate system is shown separately from the camera, the three-dimensional rectangular coordinate system is preferably such that its coordinate origin coincides with the position of the rear principal point of the imaging optical system 12 of the camera. Is set to The ψ-axis of the χ-ψ-ω three-dimensional orthogonal coordinate system extends in a direction perpendicular to the earth, and the other χ-axis and ω-axis extend perpendicularly and horizontally from the coordinate origin.

The magnetic azimuth sensor 64 detects the amount of rotational movement of the camera about the Ψ axis of the χ-ψ-ω three-dimensional orthogonal coordinate system. That is, the magnetic azimuth sensor 64 detects the amount of rotational movement about the ψ axis as an absolute angle with respect to the geomagnetic direction. The first rotation angle sensor 66 detects the amount of rotation of the camera about the χ axis, and the second rotation angle sensor 68 detects the amount of rotation of the camera about the ω axis. The sensor control circuit 76 calculates the relative three-dimensional angle data of the camera based on the amount of rotational movement detected by each of the sensors 64, 66, and 68. That is, χ-ψ
The imaging optical system 12 for the ψ axis of the −ω three-dimensional rectangular coordinate system
Are detected by sensors 64, 66 and 68.

The first acceleration sensor 70 detects the acceleration of the camera along the ψ axis of the χ-ψ-ω three-dimensional orthogonal coordinate system,
The second acceleration sensor 72 detects the acceleration of the camera along the χ axis, and the third acceleration sensor 74 detects the acceleration of the camera along the ω axis. The sensor control circuit 76 is χ-ψ-
ω Based on each acceleration of the camera along the three axes of the three-dimensional orthogonal coordinate system, the translational movement data of the camera along the corresponding axis is calculated, and the three-dimensional position data of the camera is further calculated based on the translational movement data. Calculate.

The sensor control circuit 76 has a data memory 78, and the data memory 78 has a sensor control circuit 76.
, The relative three-dimensional angle data of the camera based on the amount of rotational movement detected from the sensors 64, 66 and 68, and the three-dimensional position data of the camera based on the acceleration detected from the sensors 70, 72 and 74 Is temporarily stored.

Each of the above sensors 64, 66, 68, 7
0, 72, 74 should ideally be located at the origin of the χ-ψ-ω three-dimensional Cartesian coordinate system, that is, at the position of the back principal point of the camera's imaging optical system 12, but the imaging optical system 12 It is impossible to actually arrange each sensor at the rear principal point position. Therefore, in practice, each sensor 64, 66,
Reference numerals 68, 70, 72, and 74 are arranged at offset positions deviating from the rear principal point position of the imaging optical system 12, and therefore, the relative three-dimensional of the camera based on the amount of rotational movement detected from the sensors 64, 66, and 68 The angle data must be corrected based on the offset position correction data of the sensors. Similarly, the three-dimensional position data of the camera based on the acceleration detected from the sensors 70, 72, and 74 is also included in the offset position correction data of the sensors. Must be corrected based on the The data memory 78 is also used for storing such offset position correction data of each sensor.

As shown in FIG. 2, the camera is provided with a main power switch 80.
The OFF control is performed by pressing the power switch operation button 24 (FIG. 1). The camera is also provided with a photometric sensor switch 82 and a release switch 84, and these photometric sensor switch 82 and release switch 84 are associated with the release operation button 16 (FIG. 1). More specifically, when the release operation button 16 is half-pressed, the photometric sensor switch 82 is turned on, and when the release operation button 16 is fully pressed, the release switch 84
Is turned on. The main power switch 80 and the release switch 84 are associated with a sensor control circuit 76 for operating the sensors 64, 66, 68, 70, 72, and 74, which will be described in detail later.

Further, as shown in FIG.
Is electrically energized by the flash drive circuit 86,
The operation of the flash drive circuit 86 is performed under the control of the system controller 32. The electrical activation of the flash is performed as needed when the release operation button 16 is fully pressed. On the other hand, the liquid crystal display panel 20 is operated by a liquid crystal display panel driving circuit 88, and the operation of the liquid crystal display panel driving circuit 88 is controlled by the system controller 3
2 is performed. On the liquid crystal display panel 20, various setting conditions of the camera, appropriate messages, and the like are appropriately displayed.

Referring to FIG. 3, there is shown a flowchart of a sensor control routine executed by the sensor control circuit 76. This sensor control routine is executed by pressing the power switch operation button 24 to turn on the main power switch 80. Started by Preferably, the depression of the power switch operation button 24, that is, the turning on of the main power switch 80, is performed after the camera is mounted on a tripod installed at an appropriate position at the photogrammetry site.

In step 301, the storage area of the data memory 78 is partially initialized. That is, the writing area of the three-dimensional angle data and the three-dimensional position data is cleared,
The storage area storing the offset position correction data and the like is maintained as it is.

In step 302, the amount of rotational movement of the camera about the ψ axis, χ axis, and ω axis of the χ-ψ-ω three-dimensional orthogonal coordinate system is determined by a predetermined number of bits from each of the sensors 64, 66, and 68. The accelerations of the cameras along the ψ, χ and ω axes of the χ-ψ-ω three-dimensional rectangular coordinate system are also captured as sensors 70, 72 and 7.
4 as digital data of a predetermined number of bits. The acquisition of the rotational movement amount data from the sensors 64, 66, and 68 and the acquisition or sampling of the acceleration data from the sensors 70, 72, and 74 are performed, for example, every 1 ms.

In step 303, it is determined whether or not the flag F is equal to "0". Since F = 0 in the initial stage, the process proceeds from step 303 to step 304, and immediately after the main power switch 80 is turned on, the sensors 64, 66 and 6
The rotational movement amount obtained from the sensor 8 and the acceleration obtained from the sensors 70, 72, and 74 are stored in the RAM of the sensor control circuit 78 as initial data. Next, the routine proceeds to step 305, where the flag F is set to "1". The flag F is reset when the main power switch 80 is turned off, and is changed from "1" to "0".

After the flag F is set to "1" in step 305, the process returns to step 302, where the sensors 64, 66
And 68, the amount of rotational movement is captured again, and the acceleration is captured from each of the sensors 70, 72, and 74.

In step 303, it is determined again whether the flag F is equal to "0". At this stage, since F = 1, the process proceeds to step 306, where the sensor 70,
By the integration operation based on the initial acceleration data previously captured from 72 and 74 and the latest acceleration data detected this time, the translational movement amount data of the camera along each axis of the χ-ψ-ω three-dimensional orthogonal coordinate system is obtained. Desired. Then
In step 307, the three-dimensional position data of the camera, that is, the three-dimensional position data of the camera with respect to the initial position of the camera when the main power switch 80 is turned on is calculated based on the translation amount data of the camera. Then, step 3
In 08, the three-dimensional angle data of the camera is obtained based on the initial rotational movement amount data and the latest rotational movement amount data.

In step 309, the calculation results, that is, the three-dimensional position data and three-dimensional angle data of the camera are corrected based on the offset position correction data, and then the process proceeds to step 310, where the corrected three-dimensional position data and three-dimensional position data are corrected. Each of the angle data is stored in the data memory 78 as [PD] and [AD]. Thereafter, the process returns to step 302, and the same routine is repeated until the main power switch 80 is turned off. In short, the three-dimensional position data and the three-dimensional angle data of the camera are obtained every 1 ms, and both data [PD] and [AD] are stored in the data memory 78 in such a manner as to be updated every 1 ms.

Referring to FIG. 4, there is shown a flowchart of an interrupt routine executed by the sensor control circuit 76. The execution of this interrupt routine is started by an interrupt signal output from the system controller 32 to the sensor control circuit 76, and the output of the interrupt signal to the sensor control circuit 76 is performed when the camera takes a picture.

In step 401, as soon as a predetermined interrupt signal is output from the system controller 32 to the sensor control circuit 76, the input of other interrupt signals to the sensor control circuit 76 is prohibited. Normally, the camera is provided with various control circuits (not shown) in addition to the sensor control circuit 76. In order to output an interrupt signal from the system controller 32 to these control circuits, the camera is common to the system controller 32. Since the output port is used, immediately after a predetermined interrupt routine is input to the sensor control circuit 76, the input of another interrupt routine must be prohibited.

In step 402, the three-dimensional position data [P
D] and the three-dimensional angle data [AD] are read from the memory card 78 and sent from the sensor control circuit 76 to the system controller 32. That is, a predetermined interrupt signal is output from the system controller 32 to the sensor control circuit 76 at the time of shooting, and the three-dimensional position data [PD] and the three-dimensional angle data [A
D] is taken into the system controller 32.

In step 403, the sensor control circuit 76
The prohibition state of the input of the interrupt signal to is released, whereby the sensor control circuit 76 is ready to accept the interrupt signal output from the system controller 32 at the next photographing.

Referring to FIG. 5, there is shown a flowchart of a photographing operation routine executed by the system controller 32. The photographing operation routine is also executed by pressing the power switch operation button 24 to turn on the main power switch 80. Be started.

In step 501, an initial test program is executed to determine whether or not various functions of the camera function normally. If one of the camera functions cannot function properly, a warning message indicating that the camera function is abnormal is displayed on the LCD panel 20.
Displayed above.

If the function of the camera is normal, step 5
In step 02, it is monitored whether the release operation button 16 is half-pressed. The monitoring of the release operation button 16 half-pressed is performed, for example, every 1 ms as long as the main power switch 80 is turned on. When it is confirmed that the release operation button switch 16 is half-pressed, step 5 is performed.
From step 02, the process proceeds to step 503, where the exposure time, that is, the charge accumulation time, is calculated based on the detection signal from the photometric sensor 46.

Next, at step 504, it is monitored whether or not the release operation button 16 has been fully pressed. If the release operation button 16 is not fully pressed after being half-pressed, the process returns from step 504 to step 502. It should be noted that monitoring of the full press of the release operation button 16 is also performed.
Performed every 1 ms.

In step 504, the release operation button 16
Is fully pressed and the release switch 84 is turned on,
Proceed to step 505, where the release operation button 16
Is invalidated. That is, even if the release operation button 16 is half-pressed or full-pressed immediately after the release operation button 18 is fully pressed, the operation is invalidated.

In step 506, a photographing operation is performed. More specifically, the opening degree of the aperture 34 is adjusted by an iris drive circuit (not shown) based on the photometric signal of the photometric sensor 46 under the control of the exposure control circuit 44. Then
The quick return mirror 38 is rotated from the down position to the up position, whereby the light received by the CCD area image sensor 36 is exposed by light passing through the imaging optical system 12. That is, an optical subject image taken by the imaging optical system 12 is formed on the light receiving surface of the CCD area image sensor 36, and the optical subject image is converted into an electrical analog pixel signal for one frame.

In step 507, the three-dimensional position data [P
D] and the three-dimensional angle data [AD] are fetched from the data memory 78 via the sensor control circuit 76, and are temporarily stored in the RAM of the system controller 32. That is, FIG.
As described in the description of the interrupt routine, an interrupt signal is output from the system controller 32 to the sensor control circuit 76, whereby the three-dimensional position data [PD] and the three-dimensional angle data [AD] are read from the data memory 78. The data is sent to the system controller 32.

In step 508, it is monitored whether or not the exposure time for photoelectrically converting the optical object image by the CCD image sensor 36, that is, the charge accumulation time has elapsed. When the charge accumulation time has elapsed, the quick return mirror 38 is returned from the up position to the down position. Then, step 5
09, the pixel signals for one frame are output from the CCD drive circuit 4
8, the pixel signals are sequentially read from the CCD area image sensor 36, and the read pixel signals are amplified by an amplifier 50 and then converted to digital pixel signals by an A / D converter 52. The digital pixel signal output from the A / D converter 52 is appropriately processed by the image processing circuit 54, and then temporarily stored in the memory 56.

At step 510, digital pixel signals for one frame are sequentially read from the memory 56 and output to the memory card drive circuit 58, which writes and stores the data on the IC memory card 28. Is done. On the other hand, at this time, three-dimensional position data [PD], three-dimensional angle data [AD], frame number data, other information data, and the like are also read from the RAM of the system controller 32, and are read via the memory card driving circuit 58 into the IC memory. The data is written and stored in the card 28.

After the digital image signal for one frame, the three-dimensional position data [PD], the three-dimensional angle data [AD], etc. are stored in the IC memory card 28, the process proceeds to step 511.
Then, the release operation button 16 is activated again, and then the process returns to step 502. That is, the camera is ready for the next shooting operation.

Each storage area of the IC memory card 28 is shown in FIG.
Is formatted in a manner conceptually shown in FIG. That is, each storage area of the IC memory card 28 is divided into a header area and an image data storage area, and a digital pixel area for one frame is written in the image digital storage area, and the three-dimensional position data [PD], three-dimensional angle Data [AD], frame number data, and other information data (for example, shooting condition data such as aperture and exposure time and shooting date and time data) are written in the header area. As shown in FIG. 6, a part of the image data storage area can be left as a spare area if necessary.

Next, the principle of photogrammetry using the camera according to the present invention will be described with reference to FIGS.

First, referring to FIG. 7, a cubic object is designated by reference numeral OB as a subject on site where photogrammetry should be performed.
The scale SC is set beside the subject OB. The reference scale SC is formed as a plate of an equilateral triangle, and its three vertices are set as reference points P ₁ , P ₂ and P ₃ . A plane determined by the reference points P ₁ , P ₂ and P ₃ (shown as a hatched area in the drawing) is a reference plane, and the length of one side thereof is indicated as L.

In FIG. 7, the camera according to the present invention is indicated by reference numeral CA. In order to obtain a survey map of the object OB, the object OB must be photographed by the camera CA together with the scale SC from at least two different photographing positions. In the figure, two different imaging positions, namely a first imaging position and a second imaging position is indicated by the respective reference numerals M ₁ and M _2.

Here, as a prerequisite for the following description, the camera CA is first set to the first position using a tripod (not shown) or the like.
The main power switch after being installed in the photographing position M ₁ (80) is turned on, the first camera CA after imaging end of the photographing position M ₁ of is moved to the second imaging position M _2, the shall second photographed by the photographing position M ₂ is performed, moreover the main power switch (80) therebetween is assumed to be Mom maintained in the oN state without being turned off. Note that the first and second photographing positions M ₁ and M ₂ are respectively defined as rear principal points of the photographing optical system (12) of the camera CA, and the light of the photographing optical system (12) at each photographing position. The axes are indicated by reference numerals O ₁ and O ₂ .

FIGS. 8 and 9 show images photographed at the first and second photographing positions M ₁ and M ₂ , and the _first image shown in FIG. Cartesian coordinate system (x ₁ ,
y ₁ ) is set, and the coordinate origin is set as the imaging center c ₁ of the first image. As is clear from FIG. 8, in the first image, the image points of the reference points P ₁ , P ₂ and P ₃ have coordinates p ₁₁ (px ₁₁ , py ₁₁ ) and coordinates p ₁₂ (px ₁₂ , py ₁₂ ), respectively.
And coordinates p ₁₃ (px ₁₃ , py ₁₃ ). Also for the second image shown in FIG. 9, the second rectangular coordinate system (x ₂ , y
₂₎ is set, the coordinate origin is also the imaging center c ₂ of the first image. As is clear from FIG. 9, the reference points P ₁ ,
Each image point P ₂ and P ₃ coordinates p ₂₁ (px _21, py
₂₁ ), coordinates p ₂₂ (px ₂₂ , py ₂₂ ) and p ₂₃ (px ₂₃ ,
py ₂₃ ). Accordingly, the coordinates of each of the reference points P ₁ , P ₂ and P ₃ on the first and second images can be represented as p _ij (px _ij , py _ij ). Here, i corresponds to the number of images, i = 1 corresponds to the first image in FIG. 8, and i = 2 corresponds to the second image in FIG.
Also, j is equal to the number of reference points P _j (j = 1 _, 2 _, 3 in the present embodiment).

Referring to FIG. 10, a positional relationship between a first image (FIG. 8) when photographed by camera CA, a second image (FIG. 9) when photographed by camera CA, and scale SC. Are relatively shown, and at this time, the reference point P _{1 of} the scale SC,
Because even if the distance between P ₂ and P ₃ has a relative length, the distance is shown as L '.

Here, an XYZ three-dimensional orthogonal original coordinate system is appropriately set to specify the three-dimensional position of the subject OB based on the first image and the second image. In the example shown in FIG. 10, the coordinate origin of the XYZ three-dimensional orthogonal coordinate system is made to coincide with the _first photographing position M ₁ , and the Z axis is the optical axis O at the _first photographing position M _1. Matched to ₁ . At this time, the three-dimensional coordinates of the _second photographing position M ₂ are (X ₀ , Y ₀ ,
Z ₀ ), and the three-dimensional coordinates are the first photographing position M ₁
It represents a second displacement of the imaging position M ₂ relative. Also, three-dimensional angular coordinate of the optical axis O ₂ at the second imaging position M ₂ is (alpha, beta, gamma) are represented by, the three-dimensional angle coordinates optical axis O
It represents the rotation angle of the optical axis O ₂ for _1. That is, α indicates an angle formed with the X-axis of the three-dimensional coordinates, β indicates an angle formed with the Y-axis of the three-dimensional angle coordinates, and γ indicates an angle formed with the Z-axis of the three-dimensional angle coordinates.

In FIG. 10, the three-dimensional coordinates of the three reference points P ₁ , P ₂ and P ₃ of the scale SC are represented by P ₁ (PX ₁ , PY ₁ , PZ ₁ ), P ₂ ( P
X ₂ , PY ₂ , PZ ₂ ) and P ₃ (PX ₃ , PY ₃ , P
Z ₃ ), and P _j (P
X _j , PY _j , PZ _j ) (j = 1 _, 2 _, 3). As is apparent from FIG. 10, each reference point (P _j ), its image point (p _ij ) on the first or second image, and the first or second shooting position, that is, the camera CA
Are located on a straight line with the rear principal point position (M ₁ , M ₂ ). Therefore, the three-dimensional coordinates P _j (PX _j , PY _j ,
PZ _j ) can be determined using the following collinear equation (1).

[0063]

(Equation 1) Note that C in the above equation (1) is the principal point distance (focal length) of the photographing lens of the camera CA, and is the same in the first and second images. That is, the principal point distance C is first photographing position (the rear principal point position) M ₁ and the distance between the imaging center c _1, or the second imaging position (the rear principal point position) M ₂ and the imaging center c ₂
And the distance.

As described above, when the first image is photographed at the first photographing position M ₁ by the camera CA according to the present invention, the image data of the first image is three-dimensional position data [P
D], three-dimensional angle data [AD], frame number data, and other information data are stored in the IC memory card 28. In this case, the first photographing position M _{1 with} respect to the χ-ψ-ω three-dimensional orthogonal coordinate system. -Dimensional position data [PD] obtained by
Are three-dimensional coordinates (X ₁ , Y
₁ , Z ₁ ), and the three-dimensional angle data [AD] obtained at the _first photographing position M ₁ with respect to the χ-ψ-ω three-dimensional orthogonal coordinate system is XYZ three-dimensional orthogonal data. It can be represented as three-dimensional angular coordinates (α ₁ , β ₁ , γ ₁ ) of the coordinate system.

Similarly, when the second image is photographed at the second photographing position M ₂ by the camera CA according to the present invention, the image data of the second image is three-dimensional position data [PD] and three-dimensional angle data. [AD], together with frame number data and other information data, are stored in the IC memory card 28,
In this case, the three-dimensional position data [PD] obtained at the _second photographing position M2 in the χ-ψ-ω three-dimensional orthogonal coordinate system is XY-
Three-dimensional coordinates (X ₂ , Y ₂ , Z ₂ ) of the Z three-dimensional rectangular coordinate system
The three-dimensional angle data [AD] obtained at the _second imaging position M2 with respect to the χ-ψ-ω three-dimensional rectangular coordinate system is represented by the three-dimensional XYZ three-dimensional rectangular coordinate system. It can be represented as angular coordinates (α ₂ , β ₂ , γ ₂ ).

Referring to FIG. 11, the IC memory card 2
8 is a block diagram of a computer system that performs the above-described photogrammetry based on the image data, the three-dimensional position data [PD], and the three-dimensional angle data [AD] stored in the storage unit 8. As shown in the figure, the computer system has a computer 9 on which a photogrammetry program is installed.
0 and an IC memory card reader 92 connected to the computer 90. The IC memory card reader 92 has an IC card driver 94, in which a slot for inserting the IC memory card 28 is provided. The IC card driver 94 receives the I
Image data and three-dimensional position data from C memory card 28
[PD], three-dimensional angle data [AD], frame number data and other information data are read. Further, the computer system includes a TV monitor device 96 that reproduces an image based on image data read from the IC memory card,
A keyboard 98 for inputting various command signals and various data to the computer 90 and a mouse 100 for operating a cursor on the TV monitor 96 are provided.

Referring to FIG. 12, there is shown a flowchart of a survey drawing making routine executed by the computer system of FIG. 11, in which the survey drawing is performed based on the first and second images as shown in FIG. 8 and FIG. A diagram is created. Before the surveying drawing routine is executed, a set of frame numbers corresponding to the first and second images is selected by inputting an appropriate set of frame number data via the keyboard 100, and thus the first set of frame numbers. Two frames of image data corresponding to the first and second images are read from the IC memory card 28, and the first and second images are displayed on the display screen of the TV monitor 96 as shown in FIGS. Will be displayed.

In step 1201, three-dimensional coordinates (X ₁ , Y ₁ , Z ₁ ) obtained at the _first photographing position M ₁ in the χ-χ-ω three-dimensional orthogonal coordinate system, χ-χ-ω three-dimensional Three-dimensional angular coordinates (α ₁ , β ₁ , γ ₁ ) obtained at the _first imaging position M ₁ with respect to the rectangular coordinate system, and obtained at the second imaging position M ₂ with respect to the χ-ψ-ω three-dimensional orthogonal coordinate system. Three-dimensional coordinates (X ₂ , Y ₂ , Z ₂ ) and three-dimensional angular coordinates (α ₂ , β ₂ , γ) obtained at the _second imaging position M ₂ with respect to the χ-χ-ω three-dimensional rectangular coordinate system. _The following calculation is performed based on ₂ ). X ₀ ← X ₂ −X ₁ Y ₀ ← Y ₂ −Y ₁ Z ₀ ← Z ₂ −Z ₁ α ₀ ← α ₂ −α ₁ β ₀ ← β ₂ −β ₁ γ ₀ ← γ ₂ −γ ₁ where , Y axis of the first photographing position M ₁ is assumed to be located coordinate origin of the three-dimensional orthogonal coordinate system X-Y-Z, and the optical axis O ₁ is X-Y-Z three-dimensional orthogonal coordinate system of the camera CA assuming that matches, as shown in FIG. 10, the first three-dimensional angle coordinates of the three-dimensional coordinates and the optical axis O ₁ of the photographing position M ₁ is represented by both _{(0, 0,} 0), also the 2 shooting position M
For each of the _two three-dimensional coordinates and three-dimensional angular coordinate of the optical axis _{O 2 (X 0, Y 0} , Z 0) and (α _0, β _0,
γ ₀ ).

In step 1202, the result of the above calculation is
That is, (X _0, Y _0, Z ₀ ) and (α _0, β _0, γ ₀ ) are the second shooting position M with respect to the _first shooting position M _1, respectively.
_{2 as} the three-dimensional position data of the optical axis O _{2 and} the three-dimensional angle data of the optical axis O ₂ with respect to the optical axis O ₁ .
Stored in AM. Next, at step 1203, T
The corresponding two-dimensional coordinates p _1j (p _1j) of the image points of the respective reference points P _j on the first and second images of the V monitor device 96
x _1j , py _1j ) and p _2j (px _2j , py _2j ) are sequentially input to the computer 90 and stored in the RAM of the computer 90. Note that two-dimensional coordinates p _1j (px _1j , py _1j )
And input of p _2j (px _2j , py _2j ) by operating the mouse 100 and the first and second
Is performed by designating and clicking on the image point of each reference point _{Pj on} the image.

In step 1204, 1 is given to the counter k as an initial value. Next, in step 1205, an arbitrary object point Q _{k = 1} (FIG. 7) on the object OB is selected, and the image of each object point Q _{k = 1} on the first and second images of the TV monitor device 96 is selected. Two-dimensional coordinates q of points corresponding to each other
_1k (qx _1k , qy _1k ) and q _2k (qx _2k , qy _2k ) are input to the computer 90 and the RAM of the computer 90
Is held. The two-dimensional coordinates q _1k (qx _1k , q
y _1k ) and q _2k (qx _2k , qy _2k )
The operation is performed by operating the mouse 100 and specifying and clicking the image point of each object point Q _{k = 1} on the first and second images of the TV monitor device 96 with the cursor.

In step 1206, the two-dimensional coordinates p
_1j (px _1j , py _1j ) and p _2j (px _2j , py _2j ) and 2
The dimensional coordinates q _1k (qx _1k , qy _1k ) and q _2k (qx _2k , q
based on input data and y _2k), above collinearity equations (1) is solved, thereby the reference point P _j (j = _{1, 2,}
The three-dimensional coordinates (PX _j , PY _j , PZ _j ) of (3) and the three-dimensional coordinates (QX ₁ , QY ₁ , QZ ₁ ) of the object point Q _{k = 1} are obtained. That is, the three-dimensional coordinates (PX _j , PY _j , PZ _j ) of the reference point P _j (j = 1 _, 2 _, 3) are the same as the reference point coordinates p _1j (px _1j , py _1j ) of the first image. And the three-dimensional coordinates (QX ₁ , QY ₁ , QZ ₁ ) of the object point Q _{k = 1} are obtained based on the reference point coordinates p _2j (px _2j , py _2j ) of the image of the first image. It is obtained based on the point coordinates q ₁₁ (qx ₁₁ , qy ₁₁ ) and the object point coordinates q ₂₁ (qx ₂₁ , qy ₂₁ ) of the second image.

In step 1207, a correction magnification m for correcting the distance based on the coordinate value to the actual distance is obtained. This operation involves known lengths, such as reference points P ₁ and P
The distance between the _two is used. Since the actual distance between P ₁ and P ₂ is the length L of one side of the standard scale SC, XYZ
The following relationship holds between the actual distance L between the distance of the reference point P ₁ and P ₂ in the three-dimensional orthogonal coordinate system L '(see FIG. 3). L = L '× m (m: correction magnification)

In step 1208, the above-mentioned correction magnification m
, And the reference point P _j
Three-dimensional coordinates (PX _j , PY _j , PZ _j ) and the object point Q
_An arrangement relationship based on the actually measured values is obtained between the three-dimensional coordinates (QX ₁ , QY ₁ , QZ ₁ ) of _{k = 1} .

Next, at step 1209, XY-
When the Z three-dimensional rectangular coordinate system is X'-Y'- as shown in FIG.
The coordinates are converted to a Z 'three-dimensional orthogonal coordinate system. As apparent from the figure, X'-Y'-Z 'coordinate origin of the three-dimensional orthogonal coordinate system is aligned with the reference point P _1, and whose X' axes connecting the reference points P ₁ and P ₂ linear Is matched to Furthermore, X'-Z 'plane is caused to coincide with the plane Ps containing a reference plane defined by the reference point P _1, P ₂ and P _3. In the example shown in FIG. 13, as the origin of the X'-Y'-Z 'three-dimensional orthogonal coordinate system, the reference point P ₁ is selected, an arbitrary point on the reference plane Ps X'-Y '-Z' may be the origin of a three-dimensional rectangular coordinate system.

In step 1210, the object point Q _{k = 1 is set} to X ′
-Z 'plane is displayed on the TV monitor 96 as a survey map, X'-Z this time' in the plan view That survey, with the reference point P _1, P ₂ and P ₃ of the object point Q _{k = 1} The projection point is displayed. Note that the survey map is not limited to the X'-Z 'plane, but may be the X'-Y' plane or the Y'-Z 'plane, and further, the X'-Y'-Z' plane. A three-dimensional perspective view based on a three-dimensional orthogonal coordinate system can also be used as a survey map.

At step 1211, a set of two-dimensional coordinates q _1k (qx) with respect to the other object points (Q _k ) of the object OB.
_1k, qy _1k) and _{q 2k (qx 2k, qy 2k} ) is determined whether to be designated is further selected. Other sets of two-dimensional coordinates q _1k (qx _1k , qy _1k ) and q _2k (qx _2k ,
qy _2k ) should be further selected and specified, ie, if it is determined that the number of object points (Q _k ) for the object OB required to obtain a proper survey map is insufficient. From step 1211, the process proceeds to step 1212, where the count of the counter k is incremented by one, and thereafter, the process returns to step 1205, and step 1205 is performed.
Or the routine consisting of step 1210 is repeated.

In step 1211, a further set of two-dimensional coordinates q _1k (qx _1k , qy _1k ) and q _2k (qx _2k , qy _2k )
When it is determined that there is no need to select and designate, that is, when it is determined that the number of object points (Q _k ) for the object OB required to obtain an appropriate survey map is sufficient, a survey map is created. The routine ends.

Referring to FIGS. 14 and 15, there is shown a flowchart of another photographing operation routine executed by the system controller 32. The photographing operation routine is also executed by pressing the power switch operation button 24 and the main power switch 80. It is started by turning on.

At step 1401, an initial test program is executed to determine whether or not various functions of the camera function normally. If one of the camera functions cannot function properly, a warning message indicating that the function of the camera is abnormal is displayed on the LCD panel 2.
It is displayed on 0.

If the function of the camera is normal, step 1
Proceeding to 402, the counter n is reset. Next, the routine proceeds to step 1403, where it is monitored whether or not the release operation button 16 has been half-pressed. The monitoring of the release operation button 16 half-pressed is performed, for example, every 1 ms as long as the main power switch 80 is turned on. When it is confirmed that the release operation button switch 16 is half-pressed, the process proceeds from step 1403 to step 1404, where the exposure time, that is, the charge accumulation time, is measured.
It is calculated based on the detection signal from.

Next, at step 1405, it is monitored whether or not the release operation button 16 has been fully pressed. If the release operation button 16 is not fully pressed after being half-pressed, the process returns from step 1405 to step 1403. The monitoring of the full press of the release operation button 16 is also performed every 1 ms.

At step 1405, release operation button 1
When the release switch 84 is turned on by fully pressing the release button 6, the process proceeds to step 1406, where the release operation button 16 is invalidated. That is, the release operation button 18
Even if the release operation button 16 is half-pressed or full-pressed immediately after is fully pressed, the operation is invalidated.

At step 1407, a photographing operation is executed. More specifically, the opening degree of the aperture 34 is controlled by the exposure control circuit 44.
Is controlled by an iris drive circuit (not shown) based on the photometric signal of the photometric sensor 46 under the control of. Next, the quick return mirror 38 is rotated from the down position to the up position, whereby the light received by the CCD area image sensor 36 is exposed by the light passing through the imaging optical system 12. That is, the optical subject image taken by the imaging optical system 12 is
6, the optical subject image is converted into an electrical analog pixel signal for one frame.

At step 1408, three-dimensional position data
[PD] and three-dimensional angle data [AD] are fetched from the data memory 78 via the sensor control circuit 76, and are temporarily stored in the RAM of the system controller 32. That is, as described in the description of the interrupt routine in FIG. 4, an interrupt signal is output from the system controller 32 to the sensor control circuit 76, whereby the three-dimensional position data [PD] and the three-dimensional angle data [AD ] Is read and sent to the system controller 32.

In step 1409, three-dimensional position data
[PD] and three-dimensional angle data [AD] are [PD] _n and [A
D] _n is stored and held in the RAM of the system controller 32. Next, in step 1410, CC
The D image sensor 36 monitors whether the exposure time for performing photoelectric conversion of the optical subject image, that is, the charge accumulation time has elapsed. When the charge accumulation time has elapsed, the quick return mirror 38 is returned from the up position to the down position. Next, in step 1411, pixel signals for one frame are sequentially read from the CCD area image sensor 36 by the CCD driving circuit 48, and the read pixel signals are amplified by the amplifier 50, and thereafter, are read by the A / D converter 52. Converted to a signal. The digital pixel signal output from the A / D converter 52 is appropriately processed by the image processing circuit 54, and then temporarily stored in the memory 56.

At step 1412, it is determined whether or not the count number of the counter n is larger than 0. At this stage, since n = 0, the process proceeds to step 1413, where digital pixel signals for one frame are sequentially read from the memory 56 and output to the memory card driving circuit 58. Is written and stored in the IC memory card 28. On the other hand, at this time, three-dimensional position data [PD] _n , three-dimensional angle data [AD] _n , frame number data, other information data, and the like are also read from the RAM of the system controller 32, and are read via the memory card drive circuit 58. The data is written and stored in the IC memory card 28.

A digital image signal for one frame, three-dimensional position data [PD] _n, three-dimensional angle data [AD] _n, etc.
After being stored in the memory card 28, the process proceeds to step 1414, where the release operation button 16 is activated again. Then, in step 1415, the count number of the counter n is incremented by one. Then, step 14
Returning to 03, the camera is now ready for the next shooting operation.

If the camera is moved to another photographing position without turning off the main power switch 80 and the next photographing is performed, steps 1403 to 1411 are performed.
After the routine consisting of
From 12 the process proceeds to step 1416 (n = 1) where the following operation is performed. Δ [PD] ← [PD] _n − [PD] _n-1 Δ [AD] ← [AD] _n − [AD] _n-1

As described in the photogrammetry as shown in FIG. 10, the position difference data Δ [PD] is the first photographing position M
₁ represents three-dimensional coordinate data (X _0, Y _0, Z ₀ ) of the second imaging position M ₂ relative to _1, and the angle difference data Δ [AD] represents the optical axis at the _first imaging position M ₁ Second for O ₁
Relative three-dimensional angular coordinate data of the optical axis O ₂ at the photographing position M ₂ of _{(α 0, β 0, γ} 0) it will represent.

In step 1417, one frame of digital pixel signals are sequentially read from the memory 56 and output to the memory card drive circuit 58, which writes and stores the data in the IC memory card 28. Is done. On the other hand, at this time, the three-dimensional position data [PD] _n , the position difference data Δ [PD], the three-dimensional angle data [AD] _n , the angle difference data Δ [AD], the frame number data and other data are read from the RAM of the system controller 32. Information data and the like are also read out and written and stored in the IC memory card 28 via the memory card drive circuit 58.

A digital image signal for one frame, three-dimensional position data [PD] _n , position difference data Δ [PD], three-dimensional angle data [AD] _n and angle difference data Δ [AD] are stored in the IC memory card 28. After that, the process proceeds to step 1414,
Then, the release operation button 16 is activated again, and then, at step 1415, the count number of the counter n is incremented by one. Thereafter, the flow returns to step 1403, where the camera is ready for the next shooting operation. That is, when the camera is moved to still another photographing position without turning off the main power switch 80 and the next photographing is sequentially performed, one frame worth of image data obtained at each photographing position is the three-dimensional image data. Position data
[PD] _n , position difference data Δ [PD], three-dimensional angle data [AD]
_n and the angle difference data Δ [AD] are stored in the IC memory card 28.

In the survey map making routine as shown in FIG. 12, two consecutively photographed images are often selected as a set of first and second images as shown in FIGS. It is. When the IC memory card (28) obtained by the photographing operation routine as shown in FIGS. 14 and 15 is used, step 12 of the survey map creation routine of FIG.
No operation at 01 is required.

Referring to FIG. 16, there is shown a modified example of the survey map making routine shown in FIG.
5 shows a part of a survey map creation routine for creating a survey map using data stored in the IC memory card (28) obtained by the photographing operation routine as shown in FIG.

In step 1601, it is determined whether a set of continuously shot images has been selected as corresponding to the first and second images shown in FIGS. When a set of continuously shot images is selected, the process proceeds to step 1602, where the position difference data Δ
[PD] is the second shooting position M _{2 with} respect to the _first shooting position M ₁
Is stored in the RAM of the computer 90 as the three-dimensional position data (X _0, Y _0, Z ₀ ), and the angle difference data Δ
[AD] is the RAM of the computer 90 as three-dimensional angle data (α _0, β _0, γ ₀ ) of the optical axis O ₂ with respect to the optical axis O ₁ .
Is stored in

On the other hand, if one set of continuously shot images is not selected in step 1601, the process proceeds from step 1601 to step 1603, where the same calculation as that performed in step 1201 is performed, and a three-dimensional image is obtained. Position data (X _0, Y _0, Z ₀ ) and three-dimensional angle data (α _0, β
_0, γ ₀ ) are obtained, and then, in step 1604, the three-dimensional position data and the three-dimensional angle data are stored in the RAM of the computer 90. Thereafter, the process proceeds to step 1203 of the survey map creation routine of FIG. 12, and a predetermined survey map is created.

Under the condition that a set of continuously photographed images is always selected when creating a survey map, the data is stored in the IC memory card 28 together with one frame of image data obtained at each photographing position. The three-dimensional position data [PD] _n and the three-dimensional angle data [AD] _n may be omitted from the data to be obtained. In this case, the IC memory card 28 together with one frame of image data obtained at the first photographing position is used. Difference data Δ [PD] and angle difference data Δ [AD] to be stored in the
Are used as (0, 0, 0).

[0097]

As is apparent from the above description, the photogrammetric camera according to the present invention is equipped with a relative position detecting system capable of detecting its three-dimensional relative position at each photographing position. Creation can be performed quickly and efficiently.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view of a camera for photogrammetry according to the present invention.

FIG. 2 is a block diagram of the photogrammetric camera shown in FIG.

FIG. 3 is a flowchart of a sensor control routine executed by the sensor control circuit shown in FIG.

FIG. 4 is a flowchart of an interrupt routine executed by the sensor control circuit shown in FIG. 2;

FIG. 5 is a flowchart of a photographing operation routine executed by the system controller shown in FIG. 2;

6 is a schematic diagram schematically showing a format of an IC memory card for storing one frame of image data and the like obtained when the photographing operation routine of FIG. 5 is executed.

FIG. 7 is a conceptual diagram for explaining the principle of photogrammetry.

FIG. 8 is a conceptual diagram showing a first image of the photogrammetry site photographed at a first photographing position in FIG. 7;

FIG. 9 is a conceptual diagram showing a second image of the photogrammetry site photographed at the second photographing position in FIG. 7;

FIG. 10 is a conceptual diagram when specifying three-dimensional coordinates of a subject based on the first and second images of FIGS. 8 and 9;

FIG. 11 is a block diagram of a photogrammetry computer system that executes a survey map creation routine.

FIG. 12 is a flowchart of a survey map creation routine executed by the photogrammetry computer system of FIG. 11;

13 is a conceptual diagram conceptually showing coordinate conversion in a three-dimensional orthogonal coordinate system when a survey map is created by the survey map creation routine of FIG. 12;

FIG. 14 is a part of a flowchart showing another photographing operation routine executed by the system controller of FIG. 2;

FIG. 15 is another part of the flowchart showing another shooting operation routine executed by the system controller of FIG. 2;

FIG. 16 is a part of a flowchart showing a modified example of the survey map making routine shown in FIG. 12;

[Explanation of symbols]

 Reference Signs List 10 Camera body 12 Imaging optical system 16 Release operation button 24 Power switch operation button 28 IC memory card 32 System controller 36 CCD area image sensor 44 Exposure control circuit 46 Photometry sensor 48 CCD drive circuit 54 Image processing circuit 56 Memory 64 Magnetic orientation sensor 66 First rotation angle sensor 68 Second rotation angle sensor 70 First acceleration sensor 72 Second acceleration sensor 74 Third acceleration sensor 76 Sensor control circuit 78 Data memory 80 Main power switch 82 Photometry sensor switch 84 Release switch 90 Computer 92 IC memory card reader 94 IC card driver 96 TV monitor 98 Keyboard 100 Mouse

Claims (21)

[Claims] 1. A camera for photogrammetry used in photogrammetry, comprising a relative position detection system for three-dimensionally detecting a relative positional relationship between different photographing positions. Photogrammetric camera. 2. The photogrammetric camera according to claim 1, wherein the relative position detection system is associated with a three-dimensional rectangular coordinate system, and a coordinate origin of the three-dimensional rectangular coordinate system is relative to the photogrammetric camera. A camera for photogrammetry, wherein the camera is set at an appropriate position and a relative positional relationship between the different photographing positions is detected with respect to the three-dimensional orthogonal coordinate system. 3. The camera for photogrammetry according to claim 2, wherein a coordinate origin of the three-dimensional orthogonal coordinate system is set to a rear principal point position of the camera for photogrammetry. . 4. The camera for photogrammetry according to claim 2, wherein the three-dimensional rectangular coordinate system extends along a first axis perpendicular to the earth, and a coordinate origin of the three-dimensional rectangular coordinate system. A second and third axes extending horizontally from each other and from each other. 5. The photogrammetric camera of claim 4, wherein the relative position detection system rotates the photogrammetric camera about first, second, and third axes of the three-dimensional Cartesian coordinate system. A rotational movement amount detection sensor for detecting movement amount data, and an acceleration detection sensor for detecting acceleration data of a photogrammetry camera along first, second and third axes of the three-dimensional orthogonal coordinate system, respectively. A photogrammetric camera characterized by including: 6. The photogrammetric camera according to claim 5, wherein the rotational displacement detection sensor for detecting the rotational displacement of the photogrammetric camera about a first axis of the three-dimensional orthogonal coordinate system is magnetic. A photogrammetry camera configured as an azimuth sensor. 7. The camera for photogrammetry according to claim 5, wherein said relative position detection system further includes a rotational movement amount data detected by said rotational movement amount detection sensor at said different photographing position. First calculating means for calculating relative three-dimensional angle data of the photogrammetric camera for the different photographing positions, and the different computing position based on the acceleration data detected by the acceleration detection sensor at the different photographing positions. And a second calculating means for calculating translational movement data of the photogrammetric camera with respect to the photographed position. 8. The camera for photogrammetry according to claim 7, wherein the relative position detection system further calculates the relative photographing position based on the translation amount data calculated by the second calculating means. A camera for photogrammetry, comprising third calculating means for calculating relative three-dimensional position data. 9. The camera for photogrammetry according to claim 8, further comprising: a detachable unit for storing image data obtained at each of the different photographing positions together with the relative three-dimensional angle data and the three-dimensional position data. A camera for photogrammetry, wherein a free storage medium is provided. 10. The camera for photogrammetry according to claim 9, wherein photographing is continuously performed at said different photographing positions, and said relative position detection system is further obtained at said different photographing positions. Fourth calculating means for calculating angle difference data from two consecutive relative three-dimensional angle data; and fourth calculating means for calculating position difference data from two consecutive relative three-dimensional position data obtained at the different photographing positions. 5. The camera for photogrammetry according to claim 5, wherein the storage medium further stores the angle difference data and the position difference data. 11. The camera for photogrammetry according to claim 8, wherein photographing is continuously performed at said different photographing positions, and said relative position detection system is further obtained at said different photographing positions. Fourth calculating means for calculating angle difference data from two consecutive relative three-dimensional angle data; and fourth calculating means for calculating position difference data from two consecutive relative three-dimensional position data obtained at the different photographing positions. 5. A photogrammetry camera, comprising: 12. The photogrammetry camera according to claim 11, further comprising a removable storage medium for storing image data obtained at each of said different photographing positions together with said angle difference data and said position difference data. A photogrammetric camera characterized in that: 13. A storage medium storing image data taken by a photogrammetric camera, wherein said relative three-dimensional angle data and relative three-dimensional position data for specifying a photographing position of said photogrammetric camera are stored in said storage medium. A storage medium for storing together with image data. 14. The storage medium according to claim 13, wherein said relative three-dimensional angle data and said relative three-dimensional position data are associated with a three-dimensional rectangular coordinate system defined for a photogrammetric camera. A photogrammetric camera characterized by being specified. 15. The photogrammetric camera according to claim 14, wherein a coordinate origin of the three-dimensional orthogonal coordinate system is set at an appropriate position with respect to the photogrammetric camera. 16. The storage medium according to claim 15, wherein the three-dimensional rectangular coordinate system extends horizontally from a first axis extending perpendicular to the earth and a coordinate origin of the three-dimensional rectangular coordinate system. A storage medium comprising a second axis and a third axis extending from each other. 17. The storage medium according to claim 13, further comprising angle difference data based on two consecutive relative three-dimensional angle data obtained at different photographing positions by a photogrammetry camera. A storage medium for storing position difference data based on continuous relative three-dimensional position data. 18. A storage medium for storing image data photographed by a photogrammetric camera, wherein the relative three dimensions of two consecutive photogrammetric cameras obtained at different photographing positions by the photogrammetric camera. A storage medium for storing angle difference data based on angle data and position difference data based on relative three-dimensional position data of two consecutive photogrammetric cameras together with the image data. 19. The storage medium according to claim 18, wherein said angle difference data and said position difference data are specified in relation to a three-dimensional rectangular coordinate system defined for a camera for photogrammetry. Photogrammetry camera. 20. The camera according to claim 19, wherein a coordinate origin of the three-dimensional orthogonal coordinate system is set at an appropriate position with respect to the camera for photogrammetry. 21. The storage medium according to claim 20, wherein the three-dimensional rectangular coordinate system extends horizontally from a first axis extending perpendicular to the earth and a coordinate origin of the three-dimensional rectangular coordinate system. A storage medium comprising a second axis and a third axis extending from each other.